CN108533695B - Adjustable variable tooth thickness cycloidal pin gear transmission device - Google Patents
Adjustable variable tooth thickness cycloidal pin gear transmission device Download PDFInfo
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- CN108533695B CN108533695B CN201810733713.7A CN201810733713A CN108533695B CN 108533695 B CN108533695 B CN 108533695B CN 201810733713 A CN201810733713 A CN 201810733713A CN 108533695 B CN108533695 B CN 108533695B
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- gear
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- cycloidal
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- tooth
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/08—Profiling
Abstract
The invention relates to an adjustable variable tooth thickness cycloidal pin gear transmission device, which comprises a shell, an end face bearing, a crankshaft, pin teeth, a pin gear shell, a variable tooth thickness cycloidal gear and a spring, wherein the profile surface of the variable tooth thickness cycloidal gear is a conical surface; the center hole of the variable tooth thickness cycloidal gear is assembled with the eccentric shaft section of the crankshaft in a combined manner, two ends of the crankshaft are correspondingly arranged on bearings of the center hole of the shell and the center hole of the needle gear shell, needle teeth are placed in needle tooth grooves in the needle gear shell, the needle teeth are simultaneously contacted with the needle tooth grooves of the variable tooth thickness cycloidal gear and the needle tooth shell, a spring is sleeved on the crankshaft, and the variable tooth thickness cycloidal gear is axially pre-tightened by the spring. The invention has the following technical effects: the tooth profile modification of the cycloidal gear with variable tooth thickness is not needed, all the needle teeth in the cycloidal needle gear transmission device can be kept in contact with the cycloidal gear, the non-backlash meshing and zero return difference are realized, and the tooth flank clearance caused by working abrasion can be automatically eliminated; meanwhile, half of the gear teeth of the cycloidal gear with the variable tooth thickness participate in meshing bearing, so that the bearing capacity and the transmission precision are obviously improved.
Description
Technical Field
The invention belongs to a precise speed reducer, and particularly relates to a cycloidal pin gear transmission device.
Background
The cycloidal-pin gear transmission device is a device which realizes motion and power transmission by utilizing the meshing of a cycloidal gear and pin teeth. Geometrically, in an ideal cycloidal pin gear transmission, the cycloidal gear is contacted with all pin teeth; from the mechanics, half of the number of the pin teeth participate in power transmission, so that the cycloidal pin gear transmission has the advantages of large bearing capacity, high transmission precision, small device size and the like. At present, cycloidal pin gear transmission is widely applied to high-precision speed reducers for joints of industrial robots, and cycloidal transmission is adopted in RV speed reducers of Nabtesc company in Japan.
However, due to manufacturing errors, modification of the cycloid wheel and working wear, in actual cycloid pin gear transmission, not all the pin teeth can always contact with the cycloid wheel, a gap exists between part of the pin teeth and the cycloid wheel, and only a few pin teeth contact with the cycloid wheel to transmit power, which causes the following disadvantages: (1) the pairs of gear teeth which are contacted with each other bear excessive load and are easy to break and fail in fatigue; (2) the gap generates impact collision between the needle teeth and the cycloid wheel, noise is generated, and vibration is caused; (3) the clearance reduces the transmission precision and rigidity of the cycloid pin wheel.
At present, more scholars at home and abroad adopt a shaping method to solve the problems. The traditional shape modification method for the cycloid gear comprises the following steps: displacement modification, equidistant modification and corner modification. Many scholars improve the shape modification method on the basis of the three methods, for example, the heaver and li do propose a shape modification method for optimally combining negative equidistance and negative displacement of a cycloid gear; in Guangming, a negative displacement and positive equidistant modification method is provided, and a calculation formula of the optimal modification amount of the cycloid gear is deduced; zhao Bo et al propose a parabolic shape-modifying method based on single-tooth non-backlash mismatch shape-modifying theory. The methods are complex in calculation and modification quantity and high in requirement on machining precision, and more importantly, the methods cannot make up for gaps caused by abrasion in the transmission process of the cycloid pin gear.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to solve the technical problem of providing an adjustable variable tooth thickness cycloidal pin gear transmission device, which does not need to modify the tooth profile of a cycloidal gear with variable tooth thickness, can ensure that all pin teeth in the cycloidal pin gear transmission device are kept in contact with the cycloidal gear, can realize zero backlash meshing and zero return difference in strict meaning theoretically, and can also automatically eliminate the tooth backlash caused by working abrasion; meanwhile, half of the gear teeth of the cycloidal gear with the variable tooth thickness participate in meshing bearing, so that the bearing capacity and the transmission precision are obviously improved.
The technical problem to be solved by the invention is realized by the technical scheme, which comprises a shell, an end face bearing, a crankshaft, a pin gear shell, a variable tooth thickness cycloidal gear and a spring, wherein the profile surface of the variable tooth thickness cycloidal gear is a conical surface; the center hole of the variable tooth thickness cycloidal gear is assembled with the eccentric shaft section of the crankshaft in a combined manner, two ends of the crankshaft are correspondingly arranged on bearings of the center hole of the shell and the center hole of the needle gear shell, needle teeth are placed in needle tooth grooves in the needle gear shell, the needle teeth are simultaneously contacted with the variable tooth thickness cycloidal gear and the needle tooth grooves of the needle gear shell, the needle teeth are cylindrical needle teeth, the needle tooth grooves of the needle gear shell are tapered grooves, axes of the needle teeth are uniformly distributed on a tapered surface, springs are sleeved on the crankshaft, the variable tooth thickness cycloidal gear is in contact with the needle teeth, and the springs act on the crankshaft to perform axial pre-tightening.
The invention changes the cycloid wheel in the cycloid pinwheel transmission device into the cycloid wheel with variable tooth thickness, changes the parallel arrangement mode of the pinwheels into the conical surface arrangement, and uses the spring to pre-tighten in the axial direction, thereby ensuring no side clearance. Therefore, the invention has the following technical effects:
the tooth profile modification of the cycloidal gear with variable tooth thickness is not needed, all the needle teeth in the cycloidal needle gear transmission device can be kept in contact with the cycloidal gear, the non-backlash meshing and zero return difference are realized, and the tooth flank clearance caused by working abrasion can be automatically eliminated; meanwhile, half of the gear teeth of the cycloidal gear with the variable tooth thickness participate in meshing bearing, so that the bearing capacity and the transmission precision are obviously improved.
Drawings
The drawings of the invention are illustrated as follows:
FIG. 1 is an exploded view of the structure of the present invention;
FIG. 2 is an assembly view of the structure of the present invention;
FIG. 3 is a structural view of a variable tooth thickness cycloid gear of the present invention;
FIG. 4 is a graph of a curve forming coordinate system (initial position) of the tooth profile of the variable tooth thickness cycloidal gear of the present invention;
FIG. 5 is a graph of a variable tooth thickness cycloid gear tooth profile curve forming coordinate system (through a psi angle) of the present invention;
FIG. 6 is a graph of the tooth profile of a variable tooth thickness cycloidal gear of the present invention;
FIG. 7 is a point set diagram of the tooth profile of a variable tooth thickness cycloidal gear of the present invention.
In the figure: 1. a housing; 2. an end face bearing; 3. a crankshaft; 4. a spring; 5. a cycloidal gear with variable tooth thickness; 6. needle teeth; 7. a needle gear shell.
Detailed Description
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
as shown in fig. 1 and 2, the invention comprises a shell 1, an end face bearing 2, a crankshaft 3, a pin gear 6 and a pin gear shell 7, and also comprises a variable tooth thickness cycloidal gear 5 and a spring 4, as shown in fig. 3, the profile surface of the variable tooth thickness cycloidal gear 5 is a conical surface; the central hole of the variable tooth thickness cycloidal gear 5 is assembled with the eccentric shaft section of the crankshaft 3 in a combined way, two ends of the crankshaft 3 are correspondingly arranged on bearings of the central hole of the shell 1 and the central hole of the needle gear shell 7, the needle gear 6 is placed in a needle tooth groove in the needle gear shell 7, the needle gear 6 is simultaneously contacted with the needle tooth grooves of the variable tooth thickness cycloidal gear 5 and the needle gear shell 7, the needle tooth 6 is cylindrical needle gear, the needle tooth groove of the needle gear shell 7 is a tapered groove in tapered arrangement, the axes of the needle gear 6 are uniformly distributed on the tapered surface, the spring 4 is sleeved on the crankshaft 3, the variable tooth thickness cycloidal gear 5 is kept in contact with the needle gear 6 and acts on the crankshaft 3 by the spring 4 to carry out axial pre-tightening.
The invention changes the cycloidal gear in the cycloidal pin gear transmission device into the cycloidal gear 5 with the variable tooth thickness, changes the parallel arrangement mode of the pin gears 6 into the conical surface arrangement, and uses the spring 4 for pre-tightening in the axial direction to ensure no side clearance.
The tooth profile of the existing cycloidal gear is an equidistant curve of a short-amplitude epicycloid, and the forming principle of the short-amplitude epicycloid is as follows: when a rolling circle (generating circle) with the radius R being 2mm rolls on a base circle with the radius R being 26mm, the track of a fixed point D on the rolling circle is a short-amplitude epicycloid. In the forming process of the short-amplitude epicycloid, the rolling circle and the base circle are always in the same plane, the rotation axes of the rolling circle and the base circle are parallel to each other, and the formed short-amplitude epicycloid is a plane short-amplitude epicycloid.
As shown in fig. 2, the axes of the rolling circle and the base circle are deflected by an angle β, if the two axes intersect at an angle β equal to 15 °, the rolling circle rolls on the base circle in a pure rolling manner, and the track formed by the points D on the rolling circle is a three-dimensional space short-amplitude epicycloid
To describe the spatial short-amplitude epicycloid, the origin O is chosen as shown in FIG. 41Coinciding with the centre of the base circle, Z1The axis being perpendicular to the plane of the base circle, Y1Shaft made of1Point of tangency between the base circle and the circle-rolled to the initial position, X1The axial direction is determined according to a right-hand system, and a fixed coordinate system O fixedly connected with a base circle is established1-X1Y1Z1. In addition, an origin O is selected2Coinciding with the centre of the rolling circle, Z2The axis being perpendicular to the plane of the circle of revolution, X2Axis and X1Axis parallel, Y2The axial direction is determined according to the right-hand system, and the axial direction is established and roundedConnected motion coordinate system O2-X2Y2Z2。
As can be seen from FIG. 4, the fixed point D on the rolling circle is in the coordinate system O2-X2Y2Z2The coordinates of (a) are: d ═ 0; -e; b]Wherein e is the point D in the coordinate system O2-X2Y2Z2Y in (1)2Taking the absolute value of the coordinate, wherein e is 1 mm; b is D point in coordinate system O2-X2Y2Z2Z in (1)2The value of the coordinate value B can be changed from 0 to B to form the tooth surface of the cycloidal gear with the variable tooth thickness, and B is based on the tooth width B of the cycloidal gear with the variable tooth thickness0To determine (as in fig. 2), B ═ B0The/[ beta ] cos. The center O of the rolling circle is in the process of pure rolling of the rolling circle along the base circle2The trajectory of (a) is a plane arc, and the radius of the arc is: er 26+ 2-2 × 2 × sin7.5 ° × sin7.5 ° -27.932 mm. Fig. 5 shows the positional relationship between the base circle and the round after the round is rolled at a certain angle. The pure rolling transmission ratio relation between two circles with fixed circle centers (namely the planet carrier is fixed) can obtain the rolling angle psi of the rolling circle and the circle center O of the rolling circle2Around Z1Angle of the shaft
The following relationship is satisfied:
when the base circle is fixed, the planet carrier is equivalently rotated, the two circle centers are not fixed, according to the principle of a conversion mechanism, an angular speed opposite to the base circle needs to be added on all other components, and at the moment, the planet carrier rotates through an angle
(i.e. the center of the rolling circle O)2Around Z1The angle of the shaft) and the corresponding rolling angle of the rolling circle is
The pure scrolling process of the rolling circle along the base circle can be described by the following three rotation matrices and one translation vector:
[T2]＝[1,0,0；0,cosβ,-sinβ；0,sinβ,cosβ]
[T3]＝[cosψ,sinψ,0；-sinψ,cosψ,0；0,0,1]
in the above formula, first, the edge Z is rounded2Angle of rotation of the shaft
Using a rotating matrix [ T ]1]Indicates, then rounds off along X2The axis is rotated through an angle beta, so that the axis of the base circle and the axis of the base circle form an axis intersection angle beta, and a rotation matrix [ T ] is used2]Indicating, last round edge Z2Rotation matrix [ T ] for shaft rotation through angle psi3]And (4) showing. Multiplying the three rotation matrixes, and substituting the coordinates of the point D to express the short-amplitude epicycloid of the space:
[T]＝[T1]×[T2]×[T3]
m is the base circle coordinate system O after the rolling circle rolls through the angle psi along the base circle1-X1Y1Z1And if the rolling angle psi is increased from 0 deg. to 2 pi x R/R, a complete space short-amplitude epicycloid can be obtained.
As shown in fig. 6, in the actual transmission, in order to transmit power, the needle points engaged with the cycloid tooth profile are replaced by the needle teeth with a certain diameter, so that the actual tooth profile curve of the variable-tooth-thickness cycloid wheel is an equidistant curve of the theoretical tooth profile curve. In order to obtain the equidistant curve of the theoretical tooth profile curve, the normal vector v of each point on the theoretical curve can be obtained firstly, and the calculation process is as follows:
V＝M0-J，
in the above formula, D0＝[0；-e；0]For the same reason, M0Showing that the rolling circle rolls through an angle psi along the base circle0Point-on-base circle coordinate system O1-X1Y1Z1Coordinates of (5); j represents D0The instantaneous roll center of a point, so vector V represents the normal vector to that point on the theoretical curve; v (1), V (2), V (3) are X of vector V respectively1、Y1、Z1And the coordinate V is a unit vector of V.
After the normal vector v of each point on the theoretical curve is solved, each point of the theoretical tooth profile is translated by a distance rz of a pin wheel radius along the normal vector direction, and then the actual tooth profile curve can be solved (see figure 6):
C＝M-rz×v
in the above formula, rz is the radius of the pinwheel, C is the radius of the pin tooth after M is translated along the normal vector of the theoretical curve and then is in the base circle coordinate system O1-X1Y1Z1Coordinates of (2).
And (3) changing the rolling circle into a cylinder with thickness, namely increasing the value of B from 0 to B, and performing pure rolling on the cylinder and a base circle, wherein the track of a straight line passing through a rolling circle fixed point D on the cylinder is the tooth profile of the cycloidal gear with variable tooth thickness, and the tooth surface equation is as follows:
wherein ψ is an angle of the rolling circle;
is the center of a rolling circle O2Around Z1The angle through which the shaft is swung; beta radius of curvature and base circle axis produce an axis crossing angle, e is Y of fixed point D on radius2Absolute value of coordinates; b is D point Z2And coordinate values, rz is the radius of the pinwheel, R is the radius of the rolling circle, and R is the radius of the base circle.
The actual tooth profile tooth surface point set can be obtained according to the tooth surface equation by the following steps as shown in FIG. 7:
1. initial value b of given tooth thickness b0Setting the initial value psi of the rolling angle psi to 0mm, and substituting the formula to obtain
Substituting the parameters into a tooth surface equation to draw an actual tooth surface;
2. the rolling angle psi is increased by 18 deg., and the step 1 is repeated until psi is 26 × 180 deg. (i.e., psi is 2 pi × R/R), and the next step is proceeded;
3. and (4) increasing the tooth thickness b by 1mm, repeating the step 1 and the step 2 until the thickness b is 5mm, and ending.
The tooth surface point set is led into three-dimensional modeling software to generate a solid model of the cycloidal gear with the variable tooth thickness, the cycloidal gear with the variable tooth thickness is characterized in that needle teeth meshed with the cycloidal gear are arranged in a conical shape, and when a gap exists between the needle teeth and the cycloidal gear, the cycloidal gear can move axially under the action of spring force by utilizing the taper of the cycloidal gear with the variable tooth thickness, so that the gap is automatically compensated.
Claims (2)
1. The utility model provides a become tooth thickness cycloid pin wheel transmission with adjustable, includes casing (1), end face bearing (2), bent axle (3), pin tooth (6) and pin tooth shell (7), characterized by: the variable tooth thickness cycloidal gear further comprises a variable tooth thickness cycloidal gear (5) and a spring (4), wherein the profile surface of the variable tooth thickness cycloidal gear (5) is a conical surface; the central hole of the variable tooth thickness cycloidal gear (5) is assembled with the eccentric shaft section of the crankshaft (3), the two ends of the crankshaft (3) are correspondingly arranged in the central hole of the shell (1) and the central hole of the needle gear shell (7), the needle teeth (6) are arranged in the needle tooth grooves in the needle gear shell (7), the needle teeth (6) are simultaneously contacted with the needle tooth grooves of the variable tooth thickness cycloidal gear (5) and the needle gear shell (7), the needle teeth (6) are cylindrical needle teeth, the needle tooth grooves of the needle gear shell (7) are tapered oblique grooves, the axes of the needle teeth (6) are uniformly distributed on a tapered surface, the spring (4) is sleeved on the crankshaft (3), and the variable tooth thickness cycloidal gear (5) is axially pre-tightened by the spring (4).
2. The adjustable variable tooth thickness cycloidal pin gear transmission device according to claim 1, wherein: the tooth surface equation of the variable tooth thickness cycloid wheel (5) is as follows:
where ψ is the angle of the rolling circle;
is the center of a rolling circle O2Around Z1The angle through which the shaft is swung; the axis of the beta rounding line and the axis of the base circle generate an axis crossing angle, and e is a D point Y2Absolute value of coordinates; b is D point Z2And coordinate values, rz is the radius of the pinwheel, R is the radius of the rolling circle, and R is the radius of the base circle.
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| CN201810733713.7A CN108533695B (en) | 2018-07-06 | 2018-07-06 | Adjustable variable tooth thickness cycloidal pin gear transmission device |
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| CN201810733713.7A CN108533695B (en) | 2018-07-06 | 2018-07-06 | Adjustable variable tooth thickness cycloidal pin gear transmission device |
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| CN108533695B true CN108533695B (en) | 2021-07-27 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112081879B (en) * | 2020-09-16 | 2021-11-02 | 李国斌 | One-tooth-difference cycloidal pin gear speed reducer |
| CN112728017B (en) * | 2021-01-05 | 2022-05-27 | 珠海格力电器股份有限公司 | Speed reducer |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4297920A (en) * | 1978-07-13 | 1981-11-03 | Hans Richter | Cycloidic gear |
| CN101000081A (en) * | 2006-12-31 | 2007-07-18 | 重庆大学 | Gare changing thick involute planetary decelerating unit |
| CN101832365A (en) * | 2010-04-17 | 2010-09-15 | 吴声震 | Industrial robot single-stage cycloidal reducer |
| CN106763645A (en) * | 2016-12-20 | 2017-05-31 | 同济大学 | Cycloidal pin-wheel drive device and its correction method based on floating pin tooth |
-
2018
- 2018-07-06 CN CN201810733713.7A patent/CN108533695B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4297920A (en) * | 1978-07-13 | 1981-11-03 | Hans Richter | Cycloidic gear |
| CN101000081A (en) * | 2006-12-31 | 2007-07-18 | 重庆大学 | Gare changing thick involute planetary decelerating unit |
| CN101832365A (en) * | 2010-04-17 | 2010-09-15 | 吴声震 | Industrial robot single-stage cycloidal reducer |
| CN106763645A (en) * | 2016-12-20 | 2017-05-31 | 同济大学 | Cycloidal pin-wheel drive device and its correction method based on floating pin tooth |
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